装配机器人作业过程控制系统应用与软件开发
发布时间：2018-10-19 20:38
【摘要】：装配是产品生产的后续工序,与其他应用如焊接、喷漆、搬运相比,装配机器人需要经常与环境进行交互,并且对接触力控制有一定的要求。传统的位置控制型机器人往往无法满足装配任务的需求,因此需要在机器人控制系统中引入柔顺环节。本文结合具体应用开发项目,围绕工件柔顺放置、孔轴装配等典型任务需求,系统地研究了机器人主动柔顺装配中的关键技术,开发了装配机器人作业过程控制样例系统。论文首先分析了装配机器人任务需求,阐述了装配机器人应具有的功能。硬件系统方面构建了以工业机器人、六维力传感器、电动抓手与PC机组成的装配机器人柔顺控制系统。机械结构方面设计与制作了各模块之间的转接件,力传感器、抓手、相机安装在机械臂末端。软件系统方面设计与开发了以机器人控制器、PC机、六维力传感器组成的三级客户端服务器架构。首先设计了装配机器人柔顺控制软件系统结构,解决了各个通信线程以及界面管理线程之间通信与同步的问题,实现了抓手控制、机器人控制器以太网通信、六维力传感器数据采集与显示；针对典型的工件柔顺放置作业,分析了装配任务流程,设计了针对力控任务的XML流应用层通信协议,开发了协议解析程序,实现了基于导纳控制的力位混合控制算法；针对多维力控任务,包括引导示教、有倒角插孔、无倒角插孔(包括寻孔),解决了六维力传感器重力补偿问题,对插孔任务各阶段子任务进行了受力分析,在此基础上设计了控制策略。最终结合装配机器人视觉定位功能模块,完成了装配机器人作业过程控制系统软件集成演示评估,综合测试了系统各模块功能,验证了机器人柔顺放置、柔顺插孔、视觉纠偏等典型作业功能,实现了预期任务目标。
[Abstract]:Assembly is the follow-up process of product production. Compared with other applications such as welding, painting, handling, assembly robot often needs to interact with the environment, and has certain requirements for contact force control. The traditional position control robot can not meet the requirements of assembly task, so it is necessary to introduce compliance into the robot control system. In this paper, the key technologies of active compliance assembly of robot are systematically studied, and a sample system of job process control for assembly robot is developed according to the requirements of typical tasks, such as workpiece compliance placement and hole shaft assembly, combined with the specific application development project. Firstly, the task requirement of assembly robot is analyzed, and the function of assembly robot is expounded. In terms of hardware system, an assembly robot compliance control system composed of industrial robot, six-axis force sensor, electric gripper and PC machine is constructed. In terms of mechanical structure, the transfer parts, force sensors, gripper and camera between modules are designed and fabricated at the end of the arm. In the aspect of software system, a three-level client and server architecture composed of robot controller, PC machine and six-axis force sensor is designed and developed. Firstly, the software structure of assembly robot compliance control is designed, which solves the problem of communication and synchronization between each communication thread and interface management thread, realizes grip control and robot controller Ethernet communication. The data acquisition and display of six-dimensional force sensor, the analysis of assembly task flow, the design of XML application layer communication protocol for force control task, and the development of protocol analysis program are also presented. The hybrid force position control algorithm based on admittance control is realized, and the gravity compensation problem of six dimensional force sensor is solved for multi-dimensional force control tasks, including instruction, chamfering Jack and no chamfer Jack (including hole searching). On the basis of the stress analysis of each stage of the Jack task, the control strategy is designed. Finally, combined with the assembly robot visual positioning function module, completed the assembly robot job process control system software integration demonstration evaluation, comprehensively tested the system each module function, verified the robot compliant placement, the compliance Jack, Visual correction and other typical job functions to achieve the expected task objectives.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242
[Abstract]:Assembly is the follow-up process of product production. Compared with other applications such as welding, painting, handling, assembly robot often needs to interact with the environment, and has certain requirements for contact force control. The traditional position control robot can not meet the requirements of assembly task, so it is necessary to introduce compliance into the robot control system. In this paper, the key technologies of active compliance assembly of robot are systematically studied, and a sample system of job process control for assembly robot is developed according to the requirements of typical tasks, such as workpiece compliance placement and hole shaft assembly, combined with the specific application development project. Firstly, the task requirement of assembly robot is analyzed, and the function of assembly robot is expounded. In terms of hardware system, an assembly robot compliance control system composed of industrial robot, six-axis force sensor, electric gripper and PC machine is constructed. In terms of mechanical structure, the transfer parts, force sensors, gripper and camera between modules are designed and fabricated at the end of the arm. In the aspect of software system, a three-level client and server architecture composed of robot controller, PC machine and six-axis force sensor is designed and developed. Firstly, the software structure of assembly robot compliance control is designed, which solves the problem of communication and synchronization between each communication thread and interface management thread, realizes grip control and robot controller Ethernet communication. The data acquisition and display of six-dimensional force sensor, the analysis of assembly task flow, the design of XML application layer communication protocol for force control task, and the development of protocol analysis program are also presented. The hybrid force position control algorithm based on admittance control is realized, and the gravity compensation problem of six dimensional force sensor is solved for multi-dimensional force control tasks, including instruction, chamfering Jack and no chamfer Jack (including hole searching). On the basis of the stress analysis of each stage of the Jack task, the control strategy is designed. Finally, combined with the assembly robot visual positioning function module, completed the assembly robot job process control system software integration demonstration evaluation, comprehensively tested the system each module function, verified the robot compliant placement, the compliance Jack, Visual correction and other typical job functions to achieve the expected task objectives.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242
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